1998 Instructions For Form 1041 And Schedules A, B, D, G, Etc
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Published: 1999*
Total Pages:
ISBN-13:
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Published: 1999*
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DOWNLOAD EBOOKAuthor: United States. Internal Revenue Service
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Published: 1990
Total Pages: 20
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DOWNLOAD EBOOKAuthor: United States. Internal Revenue Service
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Published: 1991
Total Pages: 20
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DOWNLOAD EBOOKAuthor: United States. Internal Revenue Service
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Published: 2000*
Total Pages:
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DOWNLOAD EBOOKAuthor: United States. Internal Revenue Service
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Published: 1987
Total Pages: 14
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DOWNLOAD EBOOKAuthor: United States. Internal Revenue Service
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Published: 1988
Total Pages: 14
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DOWNLOAD EBOOKAuthor: United States. Internal Revenue Service
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Published: 1989*
Total Pages: 16
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DOWNLOAD EBOOKAuthor: George Shoobridge Carr
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Published: 1880
Total Pages:
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DOWNLOAD EBOOKAuthor: Sébastien Briot
Publisher: Springer
Published: 2015-06-22
Total Pages: 356
ISBN-13: 3319197886
DOWNLOAD EBOOKThis book starts with a short recapitulation on basic concepts, common to any types of robots (serial, tree structure, parallel, etc.), that are also necessary for computation of the dynamic models of parallel robots. Then, as dynamics requires the use of geometry and kinematics, the general equations of geometric and kinematic models of parallel robots are given. After, it is explained that parallel robot dynamic models can be obtained by decomposing the real robot into two virtual systems: a tree-structure robot (equivalent to the robot legs for which all joints would be actuated) plus a free body corresponding to the platform. Thus, the dynamics of rigid tree-structure robots is analyzed and algorithms to obtain their dynamic models in the most compact form are given. The dynamic model of the real rigid parallel robot is obtained by closing the loops through the use of the Lagrange multipliers. The problem of the dynamic model degeneracy near singularities is treated and optimal trajectory planning for crossing singularities is proposed. Lastly, the approach is extended to flexible parallel robots and the algorithms for computing their symbolic model in the most compact form are given. All theoretical developments are validated through experiments.
Author: George Shoobridge Carr
Publisher: Chelsea Publishing Company, Incorporated
Published: 1970
Total Pages: 1014
ISBN-13:
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